package framework;

/**
 * The HW is a mapping from the ports sensors and actuators are wired into
 * to a variable name. This provides flexibility changing wiring, makes checking
 * the wiring easier and significantly reduces the number of magic numbers
 * floating around.
 */
public class HW {
    // For example to map the left and right motors, you could define the
    // following variables to use with your drivetrain subsystem.
    // public static final int leftMotor = 1;
    // public static final int rightMotor = 2;
    
    // If you are using multiple modules, make sure to define both the port
    // number and the module. For example you with a rangefinder:
    // public static final int rangefinderPort = 1;
    // public static final int rangefinderModule = 1;
    
    
    /**
     * motor port numbers
     */
    public static final int motor_1 = 1;
    public static final int motor_2 = 2;
    public static final int motor_3 = 3;
    public static final int motor_4 = 4;
    //these are the belt moders
    public static final int upperBelt = 5;
    public static final int lowerBelt =6;
    //PID
    public static final double Kp = 0.04;
    public static final double Ki = 0.0;
    public static final double Kd = 0.0;
    
    
    /**
     * Encoder port numbers
     */
    public static final int rightEncoder_spg = 1;
    public static final int rightEncoder_s = 2;
    public static final int leftEncoder_spg = 3;
    public static final int leftEncoder_s = 4;
    
    
    public static final int ir_sensor_channel = 1;
    /**
     * Joystick Port Numbers
     */
    public static final int usbPort_one = 1;
    public static final int usbPort_two = 2;
    

    
    /**
     * SPI Slot and Port Numbers
     */
    public static final int spiSlot = 1;
    public static final int spiSCK  = 5;
    public static final int spiMOSI = 6;
    public static final int spiMISO = 7;
    public static final int spiSELC = 8;
    
}
